6 Link: http://aero.piffa.net
20 extern byte speedA = 255;
25 extern byte speedB = 255;
29 // Abilita i PINs come OUTPUTS
30 pinMode(_enA, OUTPUT);
31 pinMode(_in1, OUTPUT);
32 pinMode(_in2, OUTPUT);
33 pinMode(_enB, OUTPUT);
34 pinMode(_in3, OUTPUT);
35 pinMode(_in4, OUTPUT);
42 digitalWrite(_in1,LOW);
43 digitalWrite(_in2,HIGH);
44 analogWrite(_enA,velA);
46 digitalWrite(_in3,LOW);
47 digitalWrite(_in4,HIGH);
48 analogWrite(_enB,velB);
53 digitalWrite(_in1,LOW);
54 digitalWrite(_in2,HIGH);
57 digitalWrite(_in3,LOW);
58 digitalWrite(_in4,HIGH);
66 // Abilita i PINs come OUTPUTS
79 digitalWrite(in1,LOW);
80 digitalWrite(in2,HIGH);
81 analogWrite(enA,speedA);
84 void forwardA(byte speedA) {
86 digitalWrite(in1,LOW);
87 digitalWrite(in2,HIGH);
88 analogWrite(enA,speedA);
93 digitalWrite(in2,LOW);
94 digitalWrite(in1,HIGH);
95 analogWrite(enA,speedA);
98 void backwardA(byte speedA) {
100 digitalWrite(in2,LOW);
101 digitalWrite(in1,HIGH);
102 analogWrite(enA,speedA);
107 digitalWrite(enA,LOW);
112 // Avanzamento motore
113 digitalWrite(in3,LOW);
114 digitalWrite(in4,HIGH);
115 analogWrite(enB,speedB);
118 void forwardB(byte speedB) {
119 // Avanzamento motore
120 digitalWrite(in3,LOW);
121 digitalWrite(in4,HIGH);
122 analogWrite(enB,speedB);
127 digitalWrite(in4,LOW);
128 digitalWrite(in3,HIGH);
129 analogWrite(enB,speedB);
132 void backwardB(byte speedB) {
134 digitalWrite(in4,LOW);
135 digitalWrite(in3,HIGH);
136 analogWrite(enB,speedB);
141 digitalWrite(enB,LOW);